Development of HIT Humanoid Robot

被引：5
|
作者：
Cao, Baoshi [1 ]
Gu, Yikun [1 ]
Sun, Kui [1 ]
Jin, Minghe [1 ]
Liu, Hong [1 ]
机构：
[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Peoples R China
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2017, PT II | 2017年 / 10463卷
基金：
中国国家自然科学基金;
关键词：
HIT humanoid robot; Dual-arm system; Dexterous hand; Robotic; ROBONAUT;
D O I：
10.1007/978-3-319-65292-4_25
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper gives an overview on HIT humanoid robot, which is developed as a research platform for replicating human in special environments. The system has two upper extremities, each upper extremity includes a 7-DOF humanoid arm and a 15-DOF dexterous hand as end-effector. Two humanoid arms and dexterous hand are combined with a 2-DOF dynamic torso and a 3-DOF binocular head to form the humanoid upper body. A wheeled mobile robot is employed to provide mobility. In this paper, we describe the design specification and give an overview on mechanical design of each subsystem. Additionally, we give a short introduction to the hardware architecture and software of HIT humanoid robot.
引用
收藏
页码：286 / 297
页数：12
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